add the referance section

README.md

@@ -68,3 +68,31 @@ while arm.r.isMoving():
     pass
 print(arm.r.angle)
 ```
+
+## Referance
+
+### Scripting Commands
+Multiple script commands given on the same line must be seperated with a semicolon (*;*).
+#### go coordinates | axis_name vale | preset_name
+Set target coordinates for the arm.  Movement will not begin until the command statement is complete
+###### coordinates
+Go to the coordinates given as *{value, value, value, value}*.  Values must be integers. Values may be given in either decimal or hexidecimal notation.  Omitted values will be accepted as *null* and will not effect the arm position.
+###### axis_name value
+Move the named axis to the given value.  Names must be defined in the configuration file as the intiger index of the axis in the command protocol.  Values must be integers. Values may be in decimal or hexidecimal notation.
+###### preset_name
+Move the robot to the named corrdinates defined in the configuration file.  Coordinates must be defined in decimal notation.
+#### pause time
+###### time
+Do nothing for the length of time.
+#### wait (time)
+Wait for the arm to stop moving.  
+###### time
+If time is given, pause for that amout of time after movement has completed. If time is omitted, do the next command immediatly after movement stops.
+#### pass
+Do nothing.
+
+### Shell Commands
+#### exit
+End the shell session.
+#### quit
+Same as exit.